WO2022100500A1

WO2022100500A1 - Energy recovery method and apparatus, electric vehicle, and storage medium

Info

Publication number: WO2022100500A1
Application number: PCT/CN2021/128513
Authority: WO
Inventors: 朱福堂; 刘亚威; 王春生
Original assignee: 比亚迪股份有限公司
Priority date: 2020-11-13
Filing date: 2021-11-03
Publication date: 2022-05-19
Also published as: KR20230093466A; JP2023549230A; US20230278561A1; CN114475260B; EP4230466A1; EP4230466A4; CN114475260A

Abstract

Provided are an energy recovery method and apparatus, electric vehicle, and storage medium. The method comprises: obtaining vehicle travel information; according to road condition information and driving status information, obtaining a vehicle braking requirement; according to the vehicle braking requirement, predicting a first motor braking feedback; performing energy recovery according to the first motor braking feedback.

Description

Energy recovery method, device, electric vehicle and storage medium

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is based on the Chinese patent application "Energy Recovery Method, Device, Electric Vehicle and Storage Medium" with the application number of 202011272026.3 and the application date of November 13, 2020, and claims the priority of the above Chinese patent application. The entire contents of this application are incorporated herein by reference.

technical field

The present disclosure generally relates to the field of automobile technology, in particular to the field of energy recovery of electric vehicles, and in particular, to an energy recovery method, device, electric vehicle and storage medium.

Background technique

Energy recovery is an important means for electric vehicles to save energy and reduce consumption. At present, there are two main ways to achieve energy recovery. One is brake feedback, which refers to the process of the motor braking when the driver steps on the brake pedal; Throttle release feedback means that when the driver releases the accelerator to coast, the motor will perform constant deceleration braking with a preset feedback intensity. The motor feedback torque is the sum of the brake feedback torque and the throttle release feedback torque. The greater the motor feedback torque, the more energy Recycle more.

In practical applications, because the optimal motor feedback torque cannot be accurately determined, the energy recovery effect is affected.

Therefore, it is desired to have an energy recovery method to improve the energy recovery effect.

SUMMARY OF THE INVENTION

In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide an energy recovery method, device, electric vehicle and storage medium, so as to improve the energy recovery effect of the electric vehicle during braking.

Based on an aspect of the embodiments of the present invention, the embodiments of the present application provide an energy recovery method, the method comprising:

acquiring vehicle driving information, where the vehicle driving information includes road condition information and driving state information;

Obtain the braking demand of the vehicle according to the road condition information and the driving state information;

predicting the braking feedback of the first motor according to the vehicle braking demand;

Energy recovery is performed according to the first motor braking feedback.

In one embodiment, the obtaining of the vehicle braking requirement according to the road condition information and the driving state information includes:

Obtain the braking distance of the vehicle according to the road condition information and driving state information of the vehicle;

Calculate the braking deceleration of the vehicle and the time corresponding to the deceleration according to the braking distance of the vehicle;

The vehicle braking demand is calculated according to the deceleration of the vehicle braking and the time corresponding to the deceleration.

In one embodiment, the predicting the braking feedback of the first motor according to the vehicle braking demand includes:

Calculate the wheel-end feedback torque for vehicle braking according to the vehicle braking demand;

Obtain the first motor feedback torque of the first motor braking feedback according to the wheel end feedback torque of the vehicle braking;

According to the feedback torque of the first motor, the first motor feedback time of the braking feedback of the first motor is obtained, and the first motor feedback time is determined by the feedback torque of the first motor according to the pulse charging characteristics of the battery.

In one embodiment, the predicting the braking feedback of the first motor according to the braking demand of the vehicle further includes:

Obtain the optimal pulse charging power according to the battery pulse charging characteristics and the braking feedback of the first motor;

The second motor braking feedback is obtained according to the optimal pulse charging power, the vehicle braking demand, and the acceptable torque limit of the motor.

In one embodiment, the obtaining the optimal pulse charging power according to the battery pulse charging characteristic and the braking feedback of the first motor includes:

obtaining the first motor feedback time and the first motor feedback torque of the first motor braking feedback;

Obtain the maximum battery pulse charging power according to the feedback time of the first motor and the feedback torque of the first motor;

obtaining the charging duration of the maximum pulse charging power according to the battery pulse charging characteristic corresponding to the maximum pulse charging power;

The optimal pulse charging power is determined according to the charging duration of the maximum battery pulse charging power, the battery pulse charging characteristics and the feedback time of the first motor.

In one embodiment, the obtaining of the second motor braking feedback according to the optimal pulse charging power, the vehicle braking demand, and the acceptable torque limit of the motor includes:

determining the torque that the motor allows for wheel-end feedback according to the optimal pulse charging power, where the motor's allowable wheel-end feedback torque is the allowable vehicle wheel-end feedback torque to the motor under the optimal pulse charging power condition;

determining the wheel end demand torque for vehicle braking according to the vehicle braking demand, where the wheel end demand torque is the torque required to complete the braking of the wheel end when the vehicle is braking;

According to the acceptable torque limit of the motor, the maximum wheel-end feedback torque acceptable to the motor is determined, and the maximum wheel-end feedback torque acceptable to the motor is the maximum torque that the motor can accept and the wheel-end feedback to the motor;

The second motor feedback torque is selected as the second motor feedback torque, which has the smallest absolute value among the motor's allowable wheel-end feedback torque, the vehicle braking wheel-end demand torque, and the motor's acceptable maximum wheel-end feedback torque.

In one embodiment, the method further includes:

According to the braking demand of the vehicle, provide a braking torque parameter to a braking controller to control the feedback torque of the second motor to brake the vehicle;

If the braking torque parameter of the feedback torque of the second motor cannot meet the braking demand of the vehicle, the mechanical braking is activated.

The application also discloses an energy recovery device, and the control device includes:

a driving information acquisition module, configured to acquire vehicle driving information, where the vehicle driving information includes road condition information and driving state information of the vehicle driving;

a brake feedback module, used for obtaining the vehicle braking demand and predicting the braking feedback of the first motor according to the obtained road condition information and driving state information of the vehicle;

An energy recovery module for performing energy recovery according to the predicted first motor braking feedback.

The present application also discloses an electric vehicle, which includes the energy recovery device provided in each embodiment of the invention.

The present application also discloses a computer-readable storage medium storing a computer program, and when the computer program is executed, the energy recovery method provided by each embodiment of the present invention is implemented.

In the embodiment of the present application, the motor braking feedback is predicted according to the vehicle driving information, and energy recovery is performed according to the motor braking feedback. When performing energy recovery, the present invention can make predictions according to vehicle driving information, plan the optimal battery charging power and the duration of each power segment in advance, achieve maximum energy recovery, and reduce the probability of the driver stepping on the brakes deeply through predictive energy recovery driving assistance. , reduce the energy loss caused by mechanical braking and improve the utilization rate of energy recovery.

Description of drawings

Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

FIG. 1 is an exemplary flowchart of an energy recovery method according to an embodiment of the present application;

FIG. 2 is another exemplary flowchart of an energy recovery method according to another embodiment of the present application;

3 is a schematic structural diagram of an energy recovery device provided by an embodiment of the present application;

4 is a schematic diagram of a battery pulse charging characteristic according to an embodiment of the present application;

FIG. 5 is a schematic structural diagram of an electric vehicle according to an embodiment of the present application.

Detailed ways

The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the related invention, but not to limit the invention. In addition, it should be noted that, for the convenience of description, only the parts related to the invention are shown in the drawings.

It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

Please refer to FIG. 1 , which shows an exemplary flow of the energy recovery method to which the embodiments of the present application can be applied.

As shown in FIG. 1 , in step 110 , vehicle driving information is obtained, where the vehicle driving information includes road condition information and driving state information.

Specifically, since the vehicle needs to know the driving status of the vehicle in real time during the actual driving process, and determine whether the vehicle needs to be braked according to the driving status of the vehicle, the means to obtain the driving information of the vehicle may be the instrument on the vehicle, or some External equipment, for example, obtains the location information of the vehicle through the positioning system, obtains the current or next stage road condition information through the high-definition map, such as uphill, downhill, narrowing of the road, widening of the road, sharp turns, etc., and the front through the camera. Vehicle and congestion information, determine whether there are pedestrians, traffic lights, etc., obtain vehicle speed, driving distance, vehicle relative speed, etc. through radar, obtain the corresponding driving information of the vehicle through various sensors, and obtain the road condition information and vehicle driving information of the vehicle. Driving status information provides a basis for decision-making on whether to brake the vehicle.

In step 120, the braking requirement of the vehicle is obtained according to the road condition information and the driving state information.

Specifically, the vehicle braking requirement includes the vehicle braking speed and the vehicle braking time, the vehicle braking speed is the driving speed required to complete the braking at the set safety distance, and the vehicle braking time is based on the vehicle braking speed , the driving time required to complete the braking at a safe distance, after obtaining the vehicle driving information, according to the real-time driving conditions, determine whether the vehicle braking is required, and in the specific implementation, you can set a certain threshold for vehicle braking activation, For example, when the camera detects that there is a pedestrian at a set distance ahead, it will send a message to remind the driver to brake the vehicle. This message can be a sound or an image. For example, it can also remind the driver to release the accelerator through text. Wait. For another example, when the high-definition map detects a sudden turn on the road ahead, the driver needs to be prompted to brake the vehicle, etc. Through the learned vehicle driving information, the vehicle braking can be predicted in advance, and the energy recovery can be optimized.

When the vehicle is braking, the deceleration and deceleration time of the vehicle braking can be calculated according to the information such as the speed of the vehicle, the braking distance, etc., according to the common physical theorems.

Specifically, the obtaining of the vehicle braking requirement according to the road condition information and the driving state information includes:

Obtain the braking distance of the vehicle according to the road condition information and driving state information of the vehicle; specifically, the braking distance of the vehicle can be obtained by measuring the distance from the obstacle in front of the vehicle with distance measuring instruments or equipment such as radar, infrared, laser, and acoustics. It can also be measured and calculated by the high-definition map combined with the positioning system. The positioning system here includes the "Beidou" positioning system, the "GPS" positioning system, the "Galileo" positioning system, and the "Granas" positioning system.

Calculate the braking deceleration of the vehicle and the time corresponding to the deceleration according to the braking distance of the vehicle; specifically, since the braking distance is known and the driving speed of the vehicle is known, it can be calculated by ordinary physical principles Get the deceleration and deceleration time required to complete the braking.

According to the deceleration of the vehicle braking and the time corresponding to the deceleration, the braking demand of the vehicle is calculated; specifically, the braking demand of the vehicle is the torque required by the wheel end of the vehicle to complete the braking task, and the wheel end torque is the torque at the vehicle end. When braking, the power applied to the wheel end of the vehicle, because the deceleration of the vehicle braking is determined by the power at the wheel end of the vehicle.

In step 130, a first electric machine braking feedback is predicted according to the vehicle braking demand.

The first motor braking feedback is the torque that is fed back to the motor by the wheel end of the vehicle received by the motor when the vehicle completes braking, regardless of any external factors. It should be emphasized that the first motor mechanism The feedback time of the first motor and the feedback torque of the first motor determined by the dynamic feedback do not take into account whether the motor can withstand the torque of the vehicle braking feedback, but only represent the torque fed back by the wheel end of the vehicle received by the motor during braking, and The duration of the feedback.

The first motor feedback time and the first motor feedback torque when the electric vehicle is braked are calculated according to the deceleration of the vehicle braking and the corresponding time of deceleration. The first motor feedback torque is the torque fed back to the motor by the wheel end when the vehicle is braking, which is generally a percentage of the torque fed back by the wheel end. For example, when the vehicle is braking, 40% of the energy is used to control the braking of the vehicle to generate heat. 60% of the energy is recoverable, in this 60% of energy, 10% is consumed during torque feedback, and the remaining 50% is the first motor feedback torque received by the motor; After the motor feedback torque, the first motor feedback time, that is, the duration of the first motor feedback torque received by the motor, can be determined according to the battery pulse charging characteristic.

The pulse charging characteristics of the battery are shown in Figure 3. The abscissa SOC (%) in the figure represents the remaining charge state of the battery, that is, how much charge the battery can still charge. If the remaining charge is 0, it means that the charge of the battery is 0. If the charge is 100, it means it is fully charged, and the ordinate P (KW) represents the battery pulse charging power. The battery pulse charging power decreases with the increase of the duration, and decreases with the increase of the remaining battery charge.

Specifically, as shown in FIG. 2, according to the vehicle braking demand, predicting the braking feedback of the first motor includes:

In step 210, the wheel-end feedback torque for vehicle braking is calculated according to the vehicle braking demand.

Specifically, the vehicle braking requirement includes the vehicle braking speed and the vehicle braking time. Therefore, the torque required by the wheel end of the vehicle when the vehicle is braked can be obtained through the vehicle braking speed and the vehicle braking time, that is, the vehicle The wheel-end feedback torque of braking, it should be emphasized that the wheel-end feedback torque of vehicle braking here is not controlled by the torque output by the motor or engine, but the power generated by the braking of the wheel end of the vehicle. This The output power is generated by the braking system acting on the wheel end. The wheel end torque is multiplied by a coefficient and fed back to the motor. The motor is powered for energy recovery. The motor receives the feedback torque of the first motor. The specific value of the coefficient multiplied by the end torque is related to the performance of the vehicle itself, and different vehicles have different coefficients.

In step 220, the first motor feedback torque of the first motor braking feedback is obtained according to the wheel end feedback torque of the vehicle braking.

In step 230, the first motor feedback time of the first motor braking feedback is obtained according to the first motor feedback torque, and the first motor feedback time is determined by the first motor feedback torque according to the battery pulse charging characteristic.

When the motor pulses charging the battery, it is affected by the output power and duration of the motor. Therefore, after the motor feedback torque is obtained, the motor can charge the battery. According to the battery pulse charging characteristics, the current battery pulse charging power can be obtained. Next, according to the remaining charge of the battery, the charging time of the motor to the battery, that is, the feedback time of the first motor, is obtained.

The predicting the braking feedback of the first motor according to the braking demand of the vehicle further includes:

In step 240, obtain the optimal pulse charging power according to the battery pulse charging characteristics and the braking feedback of the first motor;

It should be noted that, in the specific implementation, due to the influence of the motor performance, the actual torque feedback from the wheel end when the vehicle is braking, the remaining charge of the battery, etc., the first vehicle braking feedback cannot be accepted by the motor. , it is necessary to obtain an accurate vehicle braking feedback based on the first vehicle braking feedback, which is suitable for the motor to receive, and conforms to the battery pulse charging characteristics of battery charging, so as to achieve the maximum efficiency of power recovery. The current charging efficiency is more obvious. Therefore, pulse charging is generally used to charge the car battery now. Since the battery pulse charging is affected by the battery pulse charging characteristics, it is necessary to choose the charging pulse power of the battery reasonably, that is, to choose an optimal charging pulse power. The pulsed charging power, correspondingly, also determines an optimum vehicle braking feedback.

Specifically, the optimal charging pulse power is related to the vehicle braking feedback and the battery pulse charging characteristics. The purpose of this application is to maximize the energy recovery of the vehicle braking. Therefore, it is necessary to prevent the battery from entering constant current charging as soon as possible. It is best to ensure that the battery is always in a pulse charging state, and use different pulse powers at different stages through the battery pulse charging characteristics.

In step 250, a second motor braking feedback is obtained according to the optimal pulse charging power, the vehicle braking demand, and the acceptable torque limit of the motor.

Specifically, obtaining the optimal pulse charging power does not mean that the wheel-end torque when the vehicle is braking must be able to meet the optimal pulse charging power. It is necessary to judge and determine the torque that can be fed back by the wheel-end when the vehicle is braking. The torque that can actually be fed back is the feedback torque of the second motor, which is the feedback torque that can actually be output from the wheel end to the motor for the motor to recover energy and charge the battery. The feedback torque of the second motor receives the optimal pulse charging power and Influence of vehicle braking demand, motor acceptable torque limit. The optimal pulse charging power determines whether the pulse power received by the motor is the best, and the charging efficiency of the motor is the highest. The braking demand of the vehicle determines whether the vehicle can complete the braking as required. The acceptable torque limit of the motor is the maximum allowed by the motor. Feedback torque, if the torque limit is exceeded, the motor will be damaged. Therefore, the optimal motor braking feedback can be obtained through these three factors, that is, the second motor braking feedback.

Specifically, obtaining the optimal pulse charging power according to the battery pulse charging characteristics and the braking feedback of the first motor includes:

According to the feedback time of the first motor and the feedback torque of the first motor, the maximum battery pulse charging power is obtained; specifically, the maximum battery pulse charging power here is the maximum battery pulse charging power fed back to the motor when the vehicle is braking.

The charging duration of the maximum pulse charging power is obtained according to the battery pulse charging characteristic corresponding to the maximum pulse charging power; specifically, the charging duration of the maximum pulse charging power can be searched by the battery pulse charging characteristic.

The optimal pulse charging power is determined according to the charging duration of the maximum battery pulse charging power, the battery pulse charging characteristics and the feedback time of the first motor. The battery pulse charging characteristics are shown in Figure 3, and it is determined that the optimal pulse charging power receives the combined influence of the charging duration of the maximum battery pulse charging power, the battery pulse charging characteristics and the feedback time of the first motor. Through these three factors, the optimal pulse charging power can be obtained.

In a specific embodiment, the obtaining of the second motor braking feedback according to the optimal pulse charging power, the vehicle braking demand, and the acceptable torque limit of the motor includes:

Specifically, since the feedback torque of the second motor is the torque actually applied to the motor to charge the battery, at this time, in order to ensure the safety of the motor, to ensure the highest charging efficiency of the battery, and also to meet the actual feedback from the wheel end of the vehicle braking In the case of torque, you need to choose the smallest one of the three. The second motor feedback torque obtained here is the feedback torque that the motor actually receives and can be sent to the motor by the wheel end of the vehicle when the vehicle is braking. That is to say, the motor can only receive so much, and the excess energy must be lost. , the motor converts the energy of the feedback torque of the second motor into pulse current to charge the battery according to the battery pulse charging characteristic.

In step 140, energy recovery is performed according to the first motor braking feedback.

Specifically, since the second vehicle braking feedback is obtained by combining the first vehicle braking feedback with corresponding operations, the first vehicle braking feedback here includes the second vehicle braking feedback, therefore, the first vehicle braking feedback is obtained through the first vehicle braking feedback. Perform energy recovery.

In one embodiment, the method for energy recovery further comprises:

Specifically, in the embodiments of the present application, the motor braking is preferentially used. If the wheel end torque of the vehicle can be fully received by the motor feedback, the motor braking is realized. If it cannot be fully received, it needs to be assisted by mechanical braking. Receives excess vehicle wheel end feedback.

FIG. 4 is a schematic structural diagram of an energy recovery device provided by an embodiment of the present application. As shown in FIG. 4 , the energy recovery device provided by this embodiment includes:

The driving information acquisition module is used for acquiring vehicle driving information, where the vehicle driving information includes road condition information and driving state information of the vehicle driving.

Specifically, in the process of driving, the vehicle needs to be braked in real time due to road conditions, traffic conditions, congestion conditions, vehicle speed, and distance between vehicles. The vehicle needs to be braked when a red light is found, a pedestrian is encountered, the driving distance is too short, and the vehicle speed is too fast. The vehicle driving information can be obtained through the vehicle positioning system, such as the "Beidou" system and the "GPS" system (Global Positioning System, Global Positioning System). system (referred to as GPS system), "Granas" system, "Galileo" system, etc., and can also be cameras, lasers, radars, infrared and distance sensors, speed sensors, etc., through these devices to obtain vehicle position information, vehicle and front Distance information of obstacles, vehicle speed information, driving distance and relative speed information, vehicle congestion, road ramp information, road traffic light information, etc.

The braking feedback module is used for obtaining the braking demand of the vehicle and predicting the braking feedback of the first motor according to the obtained road condition information and driving state information of the vehicle.

Specifically, according to the driving information of the vehicle, it is determined whether the vehicle needs to be braked. If braking is required, the distance to the obstacle under the current vehicle speed condition, the vehicle deceleration and the deceleration time required for the vehicle to ensure braking safety are calculated, etc. , by calculating the deceleration of the vehicle, the motor feedback torque and motor feedback time can be obtained. The motor feedback torque is the power fed back by the motor when the motor receives the vehicle braking when the vehicle is braking, and the motor feedback time is when the motor receives the power fed back by the vehicle braking. time.

When the vehicle decelerates or brakes, through the energy recovery device connected to the driving wheel, a part of the kinetic energy of the vehicle is converted into other forms of energy and stored, so as to achieve the purpose of recovering braking energy while decelerating or braking; When starting off or accelerating, the stored energy is released to increase the driving force on the driving wheels or to increase the driving range of electric vehicles and electric vehicles.

During energy recovery, when the vehicle starts to brake, its pulse current is the largest, so its recoverable power is the largest. When the vehicle is close to stopping, the energy recovery is zero. The efficiency of energy recovery is closely related to the battery pulse charging power. The higher the pulse charging power, the shorter the pulse charging duration, but the higher the efficiency of charging the battery. At the same time, if the battery pulse charging power is lower, the charging time is longer, which is similar to constant current charging. The braking time is limited. In the same time period, the higher the battery pulse charging power, the higher the efficiency of charging the battery. However, if the battery pulse charging power is selected too high, the battery state of charge quickly reaches a certain percentage, and in the later stage When the braking speed of the vehicle is reduced to a certain extent, the battery cannot be charged. Therefore, it is necessary to comprehensively consider the selection of the battery pulse charging power.

In the embodiment of the present application, the vehicle driving information is acquired by the driving information acquisition module, the motor braking feedback is predicted by the braking feedback module, and the energy recovery module is performed according to the motor braking feedback by the energy recovery module. When performing energy recovery, the present invention can make predictions according to vehicle driving information, plan the optimal battery charging power and the duration of each power segment in advance, achieve maximum energy recovery, and reduce the probability of the driver stepping on the brakes deeply through predictive energy recovery driving assistance. , reduce the energy loss caused by mechanical braking and improve the utilization rate of energy recovery.

As shown in FIG. 5 , the present application further discloses an electric vehicle, and the electric vehicle includes the energy recovery device of the embodiment of the present application.

In particular, according to an embodiment of the present disclosure, the energy recovery method described in any of the above embodiments may be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program containing program code for performing an energy recovery method. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion, and/or installed from a removable medium.

The one or more programs are stored as programs in read-only memory ROM or programs in random access memory RAM to perform various appropriate actions and processes. The random access memory RAM includes software programs for the server to complete corresponding services, as well as various programs and data required for vehicle driving operations. The server and its controlled hardware devices, read-only memory ROM, random access memory RAM are connected to each other through a bus, and various input/output interfaces are also connected to the bus.

The following components are connected to the input/output interface: input section including keyboard, mouse, etc.; output section including cathode ray tube CRT, liquid crystal display LCD, etc., and speaker, etc.; and communication including network interface card such as LAN card, modem, etc. part. The communication section performs communication processing via a network such as the Internet. Drives are also connected to the input/output interfaces as required. Removable media, such as magnetic disks, optical disks, magneto-optical disks, semiconductor memories, etc., are mounted on a drive as required, so that a computer program read therefrom can be installed into a memory as required.

In particular, according to an embodiment of the present disclosure, the energy recovery method described in any of the above embodiments may be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program containing program code for performing a method of addressing a network service. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion, and/or installed from a removable medium.

The units or modules involved in the embodiments of the present application may be implemented in a software manner, and may also be implemented in a hardware manner. The described units or modules may also be provided in a processor. The names of these units or modules do not, in any case, qualify the units or modules themselves.

The above description is only a preferred embodiment of the present application and an illustration of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to the technical solution formed by the specific combination of the above technical features, and should also cover the above technical features without departing from the inventive concept. Other technical solutions formed by any combination of its equivalent features. For example, a technical solution is formed by replacing the above features with the technical features disclosed in this application (but not limited to) with similar functions.

Claims

An energy recovery method, characterized in that the method comprises:

acquiring vehicle driving information, where the vehicle driving information includes road condition information and driving state information;

Obtain the braking demand of the vehicle according to the road condition information and the driving state information;

predicting the braking feedback of the first motor according to the vehicle braking demand;

Energy recovery is performed according to the first motor braking feedback.
The method according to claim 1, wherein the obtaining the vehicle braking requirement according to the road condition information and the driving state information comprises:

Obtain the braking distance of the vehicle according to the road condition information and driving state information of the vehicle;

Calculate the braking deceleration of the vehicle and the time corresponding to the deceleration according to the braking distance of the vehicle;

The vehicle braking demand is calculated according to the deceleration of the vehicle braking and the time corresponding to the deceleration.
The method according to claim 1, wherein the predicting the braking feedback of the first motor according to the braking demand of the vehicle comprises:

Calculate the wheel-end feedback torque for vehicle braking according to the vehicle braking demand;

Obtain the first motor feedback torque of the first motor braking feedback according to the wheel end feedback torque of the vehicle braking;

According to the feedback torque of the first motor, the first motor feedback time of the braking feedback of the first motor is obtained, and the first motor feedback time is determined by the feedback torque of the first motor according to the pulse charging characteristics of the battery.
The method according to claim 3, wherein the predicting the braking feedback of the first motor according to the braking demand of the vehicle further comprises:

Obtain the optimal pulse charging power according to the battery pulse charging characteristics and the braking feedback of the first motor;

The second motor braking feedback is obtained according to the optimal pulse charging power, the vehicle braking demand, and the acceptable torque limit of the motor.
The method according to claim 4, wherein the obtaining the optimal pulse charging power according to the battery pulse charging characteristic and the braking feedback of the first motor comprises:

obtaining the first motor feedback time and the first motor feedback torque of the first motor braking feedback;

Obtain the maximum battery pulse charging power according to the feedback time of the first motor and the feedback torque of the first motor;

obtaining the charging duration of the maximum pulse charging power according to the battery pulse charging characteristic corresponding to the maximum pulse charging power;

The optimal pulse charging power is determined according to the charging duration of the maximum battery pulse charging power, the battery pulse charging characteristics and the feedback time of the first motor.
The method according to claim 4, wherein the obtaining of the second motor braking feedback according to the optimal pulse charging power, the vehicle braking demand, and the acceptable torque limit of the motor comprises:

determining the torque that the motor allows for wheel-end feedback according to the optimal pulse charging power, where the motor's allowable wheel-end feedback torque is the allowable vehicle wheel-end feedback torque to the motor under the optimal pulse charging power condition;

determining the wheel end demand torque for vehicle braking according to the vehicle braking demand, where the wheel end demand torque is the torque required to complete the braking of the wheel end when the vehicle is braking;

According to the acceptable torque limit of the motor, the maximum wheel-end feedback torque acceptable to the motor is determined, and the maximum wheel-end feedback torque acceptable to the motor is the maximum torque that the motor can accept and the wheel-end feedback to the motor;

The second motor feedback torque is selected as the second motor feedback torque, which has the smallest absolute value among the motor's allowable wheel-end feedback torque, the vehicle braking wheel-end demand torque, and the motor's acceptable maximum wheel-end feedback torque.
The method according to claim 6, wherein the method further comprises:

According to the braking demand of the vehicle, provide a braking torque parameter to a braking controller to control the feedback torque of the second motor to brake the vehicle;

If the braking torque parameter of the feedback torque of the second motor cannot meet the braking demand of the vehicle, the mechanical braking is activated.
An energy recovery device, characterized in that the control device comprises:

a driving information acquisition module, configured to acquire vehicle driving information, where the vehicle driving information includes road condition information and driving state information of the vehicle driving;

a brake feedback module, used for obtaining the vehicle braking demand and predicting the braking feedback of the first motor according to the obtained road condition information and driving state information of the vehicle;

An energy recovery module for performing energy recovery according to the predicted first motor braking feedback.
An electric vehicle, characterized in that the electric vehicle includes the energy recovery device as claimed in claim 8.
A computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.